ArduPilot · timtuxworth · Dec 13, 2023 · Dec 13, 2023 · Dec 14, 2023 · Dec 14, 2023
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -917,7 +917,7 @@ bool Plane::is_taking_off() const
     return control_mode->is_taking_off();
 }
 
-// correct AHRS pitch for TRIM_PITCH_CD in non-VTOL modes, and return VTOL view in VTOL
+// correct AHRS pitch for TRIM_PITCH_DEG in non-VTOL modes, and return VTOL view in VTOL
 void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 {
 #if HAL_QUADPLANE_ENABLED
@@ -929,8 +929,8 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 #endif
     pitch = ahrs.get_pitch();
     roll = ahrs.get_roll();
-    if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH_CD))) {  // correct for TRIM_PITCH_CD
-        pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
+    if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH))) {  // correct for TRIM_PITCH_DEG
+        pitch -= g.pitch_trim * DEG_TO_RAD;
     }
 }
 

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
@@ -209,7 +209,7 @@ float Plane::stabilize_pitch_get_pitch_out()
     const bool quadplane_in_transition = false;
 #endif
 
-    int32_t demanded_pitch = nav_pitch_cd + g.pitch_trim_cd + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
+    int32_t demanded_pitch = nav_pitch_cd + int32_t(g.pitch_trim * 100.0) + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
     bool disable_integrator = false;
     if (control_mode == &mode_stabilize && channel_pitch->get_control_in() != 0) {
         disable_integrator = true;

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -133,8 +133,8 @@ void GCS_MAVLINK_Plane::send_attitude() const
     float p = ahrs.get_pitch();
     float y = ahrs.get_yaw();
 
-    if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH_CD))) {
-        p -= radians(plane.g.pitch_trim_cd * 0.01f);
+    if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH))) {
+        p -= radians(plane.g.pitch_trim);
     }
 
 #if HAL_QUADPLANE_ENABLED

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -644,14 +644,13 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     ASCALAR(min_gndspeed_cm,      "MIN_GNDSPD_CM",  MIN_GNDSPEED_CM),
 
-    // @Param: TRIM_PITCH_CD
+    // @Param: TRIM_PITCH_DEG
     // @DisplayName: Pitch angle offset
-    // @Description: Offset applied to AHRS pitch used for in-flight pitch trimming. Correct ground leveling is better than changing this parameter.
-    // @Units: cdeg
-    // @Range: -4500 4500
-    // @Increment: 10
-    // @User: Advanced
-    GSCALAR(pitch_trim_cd,        "TRIM_PITCH_CD",  0),
+    // @Description: Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.
+    // @Units: deg
+    // @Range: -45 45
+    // @User: Standard
+    GSCALAR(pitch_trim,             "TRIM_PITCH_DEG",  0.0f),
 
     // @Param: ALT_HOLD_RTL
     // @DisplayName: RTL altitude
@@ -1095,8 +1094,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 5: Enable yaw damper in acro mode
     // @Bitmask: 6: Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor.
     // @Bitmask: 7: EnableDefaultAirspeed for takeoff
-    // @Bitmask: 8: Remove the TRIM_PITCH_CD on the GCS horizon
-    // @Bitmask: 9: Remove the TRIM_PITCH_CD on the OSD horizon
+    // @Bitmask: 8: Remove the TRIM_PITCH on the GCS horizon
+    // @Bitmask: 9: Remove the TRIM_PITCH on the OSD horizon
     // @Bitmask: 10: Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL
     // @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode
     // @Bitmask: 12: Enable FBWB style loiter altitude control
@@ -1545,6 +1544,10 @@ void Plane::load_parameters(void)
 #if AP_FENCE_ENABLED
     AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true);
 #endif
+
+    // PARAMETER_CONVERSION - Added: Dec 2023
+    // Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters
+    g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
@@ -56,7 +56,7 @@ class Parameters {
         //
         k_param_auto_trim      = 10, // unused
         k_param_log_bitmask_old,  // unused
-        k_param_pitch_trim_cd,
+        k_param_pitch_trim,  // replaced by pitch_trim
         k_param_mix_mode,
         k_param_reverse_elevons, // unused
         k_param_reverse_ch1_elevon, // unused
@@ -437,7 +437,7 @@ class Parameters {
     AP_Int16 dspoiler_rud_rate;
     AP_Int32 log_bitmask;
     AP_Int32 RTL_altitude_cm;
-    AP_Int16 pitch_trim_cd;
+    AP_Float pitch_trim;
     AP_Int16 FBWB_min_altitude_cm;
 
     AP_Int8 flap_1_percent;

diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
@@ -161,8 +161,8 @@ enum FlightOptions {
     ACRO_YAW_DAMPER = (1 << 5),
     SURPRESS_TKOFF_SCALING = (1<<6),
     ENABLE_DEFAULT_AIRSPEED = (1<<7),
-    GCS_REMOVE_TRIM_PITCH_CD = (1 << 8),
-    OSD_REMOVE_TRIM_PITCH_CD = (1 << 9),
+    GCS_REMOVE_TRIM_PITCH = (1 << 8),
+    OSD_REMOVE_TRIM_PITCH = (1 << 9),
     CENTER_THROTTLE_TRIM = (1<<10),
     DISABLE_GROUND_PID_SUPPRESSION = (1<<11),
     ENABLE_LOITER_ALT_CONTROL = (1<<12),

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -310,7 +310,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
 
     // @Param: TRIM_PITCH
     // @DisplayName: Quadplane AHRS trim pitch
-    // @Description: This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes TRIM_PITCH_CD. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.
+    // @Description: This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes TRIM_PITCH. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.
     // @Units: deg
     // @Range: -10 +10
     // @Increment: 0.1

diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -6,7 +6,7 @@ SCALING_SPEED    15
 TECS_CLMB_MAX    3
 TECS_LAND_ARSPD  20
 TKOFF_THR_MAX    85
-TRIM_PITCH_CD    100
+PITCH_TRIM       1
 TRIM_THROTTLE    40
 WP_LOITER_RAD    120
 WP_RADIUS        110

diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -15,7 +15,7 @@ TRIM_THROTTLE,60
 GROUND_STEER_ALT,10
 TRIM_ARSPD_CM,5200
 SCALING_SPEED,60
-TRIM_PITCH_CD,400
+TRIM_PITCH_DEG,4
 ALT_HOLD_RTL,25000
 FLAP_1_PERCNT,50
 FLAP_1_SPEED,30

diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
@@ -107,7 +107,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
 TRIM_ARSPD_CM,1600
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+PITCH_TRIM,0
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,55
 USE_REV_THRUST,0

diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -107,7 +107,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
 TRIM_ARSPD_CM,1600
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+PITCH_TRIM,0
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,55
 USE_REV_THRUST,2

diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -2,7 +2,7 @@ EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
 TRIM_ARSPD_CM   2200
-TRIM_PITCH_CD   0
+PITCH_TRIM      0
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500

diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
@@ -803,7 +803,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 TRIM_ARSPD_CM,1200
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+PITCH_TRIM,0
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,45
 TUNE_CHAN,0

diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
@@ -2,7 +2,7 @@ EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
 TRIM_ARSPD_CM   2200
-TRIM_PITCH_CD   0
+PITCH_TRIM      0
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
@@ -1883,7 +1883,6 @@ bool AP_Param::find_old_parameter(const struct ConversionInfo *info, AP_Param *v
     return true;
 }
 
-
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wformat"
 // convert one old vehicle parameter to new object parameter
@@ -1944,11 +1943,17 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
 #pragma GCC diagnostic pop
 
 
-// convert old vehicle parameters to new object parametersv
+// convert old vehicle parameters to new object parameters
 void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags)
+{
+    convert_old_parameters_scaled(conversion_table, table_size, 1.0f,flags);
+}
+
+// convert old vehicle parameters to new object parameters with scaling - assumes all parameters will have the same scaling factor
+void AP_Param::convert_old_parameters_scaled(const struct ConversionInfo *conversion_table, uint8_t table_size, float scaler, uint8_t flags)
 {
     for (uint8_t i=0; i<table_size; i++) {
-        convert_old_parameter(&conversion_table[i], 1.0f, flags);
+        convert_old_parameter(&conversion_table[i], scaler, flags);
     }
     // we need to flush here to prevent a later set_default_by_name()
     // causing a save to be done on a converted parameter
@@ -2004,7 +2009,7 @@ void AP_Param::convert_class(uint16_t param_key, void *object_pointer,
  convert width of a parameter, allowing update to wider scalar values
  without changing the parameter indexes
 */
-bool AP_Param::convert_parameter_width(ap_var_type old_ptype)
+bool AP_Param::convert_parameter_width(ap_var_type old_ptype, float scale_factor)
 {
     if (configured_in_storage()) {
         // already converted or set by the user
@@ -2051,15 +2056,14 @@ bool AP_Param::convert_parameter_width(ap_var_type old_ptype)
     // going via float is safe as the only time we would be converting
     // from AP_Int32 is when converting to float
     float old_float_value = old_ap->cast_to_float(old_ptype);
-    set_value(new_ptype, this, old_float_value);
+    set_value(new_ptype, this, old_float_value*scale_factor);
 
     // force save as the new type
     save(true);
 
     return true;
 }
 
-
 /*
   set a parameter to a float value
  */

diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
@@ -467,13 +467,18 @@ class AP_Param
 
     // convert old vehicle parameters to new object parameters
     static void         convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags=0);
+    // convert old vehicle parameters to new object parameters with scaling - assumes we use the same scaling factor for all values in the table
+    static void         convert_old_parameters_scaled(const ConversionInfo *conversion_table, uint8_t table_size, float scaler, uint8_t flags);
 
     /*
       convert width of a parameter, allowing update to wider scalar
       values without changing the parameter indexes. This will return
       true if the parameter was converted from an old parameter value
     */
-    bool convert_parameter_width(ap_var_type old_ptype);
+    bool convert_parameter_width(ap_var_type old_ptype, float scale_factor=1.0);
+    bool convert_centi_parameter(ap_var_type old_ptype) {
+        return convert_parameter_width(old_ptype, 0.01f);
+    }
 
     // convert a single parameter with scaling
     enum {

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
@@ -859,7 +859,7 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge)
     _pitch_demand_lpf.apply(_pitch_dem, _DT);
     const float pitch_demand_hpf = _pitch_dem - _pitch_demand_lpf.get();
     _pitch_measured_lpf.apply(_ahrs.get_pitch(), _DT);
-    const float pitch_corrected_lpf = _pitch_measured_lpf.get() - radians(0.01f * (float)aparm.pitch_trim_cd);
+    const float pitch_corrected_lpf = _pitch_measured_lpf.get();
     const float pitch_blended = pitch_demand_hpf + pitch_corrected_lpf;
 
     if (pitch_blended > 0.0f && _PITCHmaxf > 0.0f)

diff --git a/libraries/AP_Vehicle/AP_FixedWing.h b/libraries/AP_Vehicle/AP_FixedWing.h
@@ -23,7 +23,6 @@ struct AP_FixedWing {
     AP_Int32 autotune_options;
     AP_Int8  stall_prevention;
     AP_Int16 loiter_radius;
-    AP_Int16 pitch_trim_cd;
     AP_Float takeoff_throttle_max_t;
 
     struct Rangefinder_State {

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -268,7 +268,7 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
      */
     virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
 
-   // Returns roll and  pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH_CD
+   // Returns roll and  pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH
     virtual void get_osd_roll_pitch_rad(float &roll, float &pitch) const;
 
     /*

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -851,7 +851,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 TRIM_ARSPD_CM,3000
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+TRIM_PITCH,0
 TRIM_THROTTLE,45
 TUNE_CHAN,0
 TUNE_CHAN_MAX,2000

diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -845,7 +845,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 TRIM_ARSPD_CM,2700
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+TRIM_PITCH,0
 TRIM_THROTTLE,45
 TUNE_CHAN,0
 TUNE_CHAN_MAX,2000